/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <cstdio>
#include <string>
#include <algorithm>
#include <vector>
#include <tf2/convert.h>
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

using namespace std;

namespace costmap_2d
{

void move_parameter(ros::NodeHandle& old_h, ros::NodeHandle& new_h, std::string name, bool should_delete = true)
{
  if (!old_h.hasParam(name))
    return;

  XmlRpc::XmlRpcValue value;
  old_h.getParam(name, value);
  new_h.setParam(name, value);
  if (should_delete) old_h.deleteParam(name);
}

Costmap2DROS::Costmap2DROS(const std::string& name, tf2_ros::Buffer& tf) :
    layered_costmap_(NULL),
    name_(name),
    tf_(tf),
    transform_tolerance_(0.3),
    map_update_thread_shutdown_(false),
    stop_updates_(false),
    initialized_(true),
    stopped_(false),
    map_update_thread_(NULL),
    last_publish_(0),
    plugin_loader_("costmap_2d", "costmap_2d::Layer"),
    publisher_(NULL),
    dsrv_(NULL),
    footprint_padding_(0.0)
{

  ros::NodeHandle private_nh("~/" + name);
  ros::NodeHandle g_nh;

  // get global and robot base frame names
  private_nh.param("global_frame", global_frame_, std::string("map"));
  private_nh.param("robot_base_frame", robot_base_frame_, std::string("base_link"));
  // if(name_.find("global_costmap")) ROS_ERROR("Hiep- name_: %s global_frame: %s robot_base_frame: %s", name_.c_str(), global_frame_.c_str(), robot_base_frame_.c_str());
  ros::Time last_error = ros::Time::now();
  std::string tf_error;
  // we need to make sure that the transform between the robot base frame and the global frame is available
  while (ros::ok()
      && !tf_.canTransform(global_frame_, robot_base_frame_, ros::Time(), ros::Duration(0.1), &tf_error))
  {
    ros::spinOnce();
    if (last_error + ros::Duration(5.0) < ros::Time::now())
    {
      ROS_WARN("Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s",
               robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
      last_error = ros::Time::now();
    }
    // The error string will accumulate and errors will typically be the same, so the last
    // will do for the warning above. Reset the string here to avoid accumulation.
    tf_error.clear();
  }

  // check if we want a rolling window version of the costmap
  bool rolling_window, track_unknown_space, always_send_full_costmap;
  private_nh.param("rolling_window", rolling_window, false);
  private_nh.param("track_unknown_space", track_unknown_space, false);
  private_nh.param("always_send_full_costmap", always_send_full_costmap, false);
  
  layered_costmap_ = new LayeredCostmap(global_frame_, rolling_window, track_unknown_space);

  if (!private_nh.hasParam("plugins"))
  {
    loadOldParameters(private_nh);
  } else {
    warnForOldParameters(private_nh);
  }

  if (private_nh.hasParam("plugins"))
  {
    XmlRpc::XmlRpcValue my_list;
    private_nh.getParam("plugins", my_list);
    for (int32_t i = 0; i < my_list.size(); ++i)
    {
      std::string pname = static_cast<std::string>(my_list[i]["name"]);
      std::string type = static_cast<std::string>(my_list[i]["type"]);
      ROS_INFO("%s: Using plugin \"%s\"", name_.c_str(), pname.c_str());
      copyParentParameters(pname, type, private_nh);

      boost::shared_ptr<Layer> plugin = plugin_loader_.createInstance(type);
      layered_costmap_->addPlugin(plugin);
      plugin->initialize(layered_costmap_, name + "/" + pname, &tf_);
    }
  }

  // subscribe to the footprint topic
  std::string topic_param, topic;
  if (!private_nh.searchParam("footprint_topic", topic_param))
  {
    topic_param = "footprint_topic";
  }

  private_nh.param(topic_param, topic, std::string("footprint"));
  footprint_sub_ = private_nh.subscribe(topic, 1, &Costmap2DROS::setUnpaddedRobotFootprintPolygon, this);

  if (!private_nh.searchParam("published_footprint_topic", topic_param))
  {
    topic_param = "published_footprint";
  }

  private_nh.param(topic_param, topic, std::string("footprint"));  // TODO: revert to oriented_footprint in N-turtle
  footprint_pub_ = private_nh.advertise<geometry_msgs::PolygonStamped>(topic, 1);
  
  setUnpaddedRobotFootprint(makeFootprintFromParams(private_nh));
 
  publisher_ = new Costmap2DPublisher(&private_nh, layered_costmap_->getCostmap(), global_frame_, "costmap",
                                      always_send_full_costmap);

  // create a thread to handle updating the map
  stop_updates_ = false;
  initialized_ = true;
  stopped_ = false;

  dsrv_ = new dynamic_reconfigure::Server<Costmap2DConfig>(ros::NodeHandle("~/" + name));
  dynamic_reconfigure::Server<Costmap2DConfig>::CallbackType cb = [this](auto& config, auto level){ reconfigureCB(config, level); };
  dsrv_->setCallback(cb);
}

void Costmap2DROS::setUnpaddedRobotFootprintPolygon(const geometry_msgs::Polygon& footprint)
{ 
  setUnpaddedRobotFootprint(toPointVector(footprint));
}

Costmap2DROS::~Costmap2DROS()
{
  map_update_thread_shutdown_ = true;
  if (map_update_thread_ != NULL)
  {
    map_update_thread_->join();
    delete map_update_thread_;
  }
  if (publisher_ != NULL)
    delete publisher_;

  delete layered_costmap_;
  delete dsrv_;
}

void Costmap2DROS::loadOldParameters(ros::NodeHandle& nh)
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::loadOldParameters");
  ROS_WARN("%s: Parameter \"plugins\" not provided, loading pre-Hydro parameters", name_.c_str());
  bool flag;
  std::string s;
  std::vector < XmlRpc::XmlRpcValue > plugins;

  XmlRpc::XmlRpcValue::ValueStruct map;
  SuperValue super_map;
  SuperValue super_array;

  if (nh.getParam("static_map", flag) && flag)
  {
    map["name"] = XmlRpc::XmlRpcValue("static_layer");
    map["type"] = XmlRpc::XmlRpcValue("costmap_2d::StaticLayer");
    super_map.setStruct(&map);
    plugins.push_back(super_map);

    ros::NodeHandle map_layer(nh, "static_layer");
    move_parameter(nh, map_layer, "map_topic");
    move_parameter(nh, map_layer, "unknown_cost_value");
    move_parameter(nh, map_layer, "lethal_cost_threshold");
    move_parameter(nh, map_layer, "track_unknown_space", false);
  }

  ros::NodeHandle obstacles(nh, "obstacle_layer");
  if (nh.getParam("map_type", s) && s == "voxel")
  {
    map["name"] = XmlRpc::XmlRpcValue("obstacle_layer");
    map["type"] = XmlRpc::XmlRpcValue("costmap_2d::VoxelLayer");
    super_map.setStruct(&map);
    plugins.push_back(super_map);

    move_parameter(nh, obstacles, "origin_z");
    move_parameter(nh, obstacles, "z_resolution");
    move_parameter(nh, obstacles, "z_voxels");
    move_parameter(nh, obstacles, "mark_threshold");
    move_parameter(nh, obstacles, "unknown_threshold");
    move_parameter(nh, obstacles, "publish_voxel_map");
  }
  else
  {
    map["name"] = XmlRpc::XmlRpcValue("obstacle_layer");
    map["type"] = XmlRpc::XmlRpcValue("costmap_2d::ObstacleLayer");
    super_map.setStruct(&map);
    plugins.push_back(super_map);
  }

  move_parameter(nh, obstacles, "max_obstacle_height");
  move_parameter(nh, obstacles, "raytrace_range");
  move_parameter(nh, obstacles, "obstacle_range");
  move_parameter(nh, obstacles, "track_unknown_space", true);
  nh.param("observation_sources", s, std::string(""));
  std::stringstream ss(s);
  std::string source;
  while (ss >> source)
  {
    move_parameter(nh, obstacles, source);
  }
  move_parameter(nh, obstacles, "observation_sources");

  ros::NodeHandle inflation(nh, "inflation_layer");
  move_parameter(nh, inflation, "cost_scaling_factor");
  move_parameter(nh, inflation, "inflation_radius");
  map["name"] = XmlRpc::XmlRpcValue("inflation_layer");
  map["type"] = XmlRpc::XmlRpcValue("costmap_2d::InflationLayer");
  super_map.setStruct(&map);
  plugins.push_back(super_map);

  super_array.setArray(&plugins);
  nh.setParam("plugins", super_array);
}

void Costmap2DROS::copyParentParameters(const std::string& plugin_name, const std::string& plugin_type, ros::NodeHandle& nh)
{
  ros::NodeHandle target_layer(nh, plugin_name);

  if(plugin_type == "costmap_2d::StaticLayer")
  {
    move_parameter(nh, target_layer, "map_topic", false);
    move_parameter(nh, target_layer, "unknown_cost_value", false);
    move_parameter(nh, target_layer, "lethal_cost_threshold", false);
    move_parameter(nh, target_layer, "track_unknown_space", false);
  }
  else if(plugin_type == "costmap_2d::VoxelLayer")
  {
    move_parameter(nh, target_layer, "origin_z", false);
    move_parameter(nh, target_layer, "z_resolution", false);
    move_parameter(nh, target_layer, "z_voxels", false);
    move_parameter(nh, target_layer, "mark_threshold", false);
    move_parameter(nh, target_layer, "unknown_threshold", false);
    move_parameter(nh, target_layer, "publish_voxel_map", false);
  }
  else if(plugin_type == "costmap_2d::ObstacleLayer")
  {
    move_parameter(nh, target_layer, "max_obstacle_height", false);
    move_parameter(nh, target_layer, "raytrace_range", false);
    move_parameter(nh, target_layer, "obstacle_range", false);
    move_parameter(nh, target_layer, "track_unknown_space", false);
  }
  else if(plugin_type == "costmap_2d::InflationLayer")
  {
    move_parameter(nh, target_layer, "cost_scaling_factor", false);
    move_parameter(nh, target_layer, "inflation_radius", false);
  }
}

void Costmap2DROS::warnForOldParameters(ros::NodeHandle& nh)
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::warnForOldParameters");
  checkOldParam(nh, "static_map");
  checkOldParam(nh, "map_type");
}

void Costmap2DROS::checkOldParam(ros::NodeHandle& nh, const std::string &param_name){
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::checkOldParam");
  if(nh.hasParam(param_name)){
    ROS_WARN("%s: Pre-Hydro parameter \"%s\" unused since \"plugins\" is provided", name_.c_str(), param_name.c_str());
  }
}

void Costmap2DROS::reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level)
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::reconfigureCB");
  transform_tolerance_ = config.transform_tolerance;
  if (map_update_thread_ != NULL)
  {
    map_update_thread_shutdown_ = true;
    map_update_thread_->join();
    delete map_update_thread_;
    map_update_thread_ = NULL;
  }
  map_update_thread_shutdown_ = false;
  double map_update_frequency = config.update_frequency;

  double map_publish_frequency = config.publish_frequency;
  if (map_publish_frequency > 0)
    publish_cycle = ros::Duration(1 / map_publish_frequency);
  else
    publish_cycle = ros::Duration(-1);

  // find size parameters
  double map_width_meters = config.width, map_height_meters = config.height, resolution = config.resolution, origin_x =
             config.origin_x,
         origin_y = config.origin_y;

  if (!layered_costmap_->isSizeLocked())
  {
    layered_costmap_->resizeMap((unsigned int)(map_width_meters / resolution),
                                (unsigned int)(map_height_meters / resolution), resolution, origin_x, origin_y);
  }

  // If the padding has changed, call setUnpaddedRobotFootprint() to
  // re-apply the padding.
  if (footprint_padding_ != config.footprint_padding)
  {
    footprint_padding_ = config.footprint_padding;
    setUnpaddedRobotFootprint(unpadded_footprint_);
  }

  readFootprintFromConfig(config, old_config_);

  old_config_ = config;

  // only construct the thread if the frequency is positive
  if(map_update_frequency > 0.0)
    map_update_thread_ = new boost::thread(boost::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency));
}

void Costmap2DROS::readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config,
                                           const costmap_2d::Costmap2DConfig &old_config)
{
  // Only change the footprint if footprint or robot_radius has
  // changed.  Otherwise we might overwrite a footprint sent on a
  // topic by a dynamic_reconfigure call which was setting some other
  // variable.
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::readFootprintFromConfig");
  if (new_config.footprint == old_config.footprint &&
      new_config.robot_radius == old_config.robot_radius)
  {
    return;
  }

  if (new_config.footprint != "" && new_config.footprint != "[]")
  {
    std::vector<geometry_msgs::Point> new_footprint;
    if (makeFootprintFromString(new_config.footprint, new_footprint))
    {
        setUnpaddedRobotFootprint(new_footprint);
    }
    else
    {
        ROS_ERROR("Invalid footprint string from dynamic reconfigure");
    }
  }
  else
  {
    // robot_radius may be 0, but that must be intended at this point.
    setUnpaddedRobotFootprint(makeFootprintFromRadius(new_config.robot_radius));
  }
}

void Costmap2DROS::setUnpaddedRobotFootprint(const std::vector<geometry_msgs::Point>& points)
{
  unpadded_footprint_ = points;
  padded_footprint_ = points;
  padFootprint(padded_footprint_, footprint_padding_);

  layered_costmap_->setFootprint(padded_footprint_);
}

void Costmap2DROS::movementCB(const ros::TimerEvent &event)
{
  // don't allow configuration to happen while this check occurs
  // boost::recursive_mutex::scoped_lock mcl(configuration_mutex_);
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::movementCB");
  geometry_msgs::PoseStamped new_pose;

  if (!getRobotPose(new_pose))
  {
    ROS_WARN_THROTTLE(1.0, "Could not get robot pose, cancelling reconfiguration");
  }
}

void Costmap2DROS::mapUpdateLoop(double frequency)
{
  ros::NodeHandle nh;
  ros::Rate r(frequency);
  while (nh.ok() && !map_update_thread_shutdown_)
  {
    #ifdef HAVE_SYS_TIME_H
    struct timeval start, end;
    double start_t, end_t, t_diff;
    gettimeofday(&start, NULL);
    #endif
    
    updateMap();

    #ifdef HAVE_SYS_TIME_H
    gettimeofday(&end, NULL);
    start_t = start.tv_sec + double(start.tv_usec) / 1e6;
    end_t = end.tv_sec + double(end.tv_usec) / 1e6;
    t_diff = end_t - start_t;
    ROS_DEBUG("Map update time: %.9f", t_diff);
    #endif
    
    if (publish_cycle.toSec() > 0 && layered_costmap_->isInitialized())
    {
      unsigned int x0, y0, xn, yn;
      layered_costmap_->getBounds(&x0, &xn, &y0, &yn);
      publisher_->updateBounds(x0, xn, y0, yn);

      ros::Time now = ros::Time::now();
      if (last_publish_ + publish_cycle < now)
      {
        publisher_->publishCostmap();
        last_publish_ = now;
      }
    }
    ros::spinOnce();
    r.sleep();
    // make sure to sleep for the remainder of our cycle time
    if (r.cycleTime() > ros::Duration(1 / frequency))
      ROS_WARN("Map update loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds", frequency,
               r.cycleTime().toSec());
  }
}

void Costmap2DROS::updateMap()
{
  if (!stop_updates_)
  {
    // get global pose
    geometry_msgs::PoseStamped pose;
    if (getRobotPose (pose))
    {
      double x = pose.pose.position.x,
             y = pose.pose.position.y,
             yaw = tf2::getYaw(pose.pose.orientation);
      layered_costmap_->updateMap(x, y, yaw);
      geometry_msgs::PolygonStamped footprint;
      footprint.header.frame_id = global_frame_;
      footprint.header.stamp = ros::Time::now();
      transformFootprint(x, y, yaw, padded_footprint_, footprint);
      
      footprint_pub_.publish(footprint);

      initialized_ = true;
    }
  }
}

void Costmap2DROS::start()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::start");
  std::vector < boost::shared_ptr<Layer> > *plugins = layered_costmap_->getPlugins();
  // check if we're stopped or just paused
  if (stopped_)
  {
    // if we're stopped we need to re-subscribe to topics
    for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins->begin(); plugin != plugins->end();
        ++plugin)
    {
      (*plugin)->activate();
    }
    stopped_ = false;
  }
  stop_updates_ = false;

  // block until the costmap is re-initialized.. meaning one update cycle has run
  // note: this does not hold, if the user has disabled map-updates allgother
  ros::Rate r(100.0);
  while (ros::ok() && !initialized_ && map_update_thread_)
    r.sleep();
}

void Costmap2DROS::stop()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::stop");
  stop_updates_ = true;
  std::vector < boost::shared_ptr<Layer> > *plugins = layered_costmap_->getPlugins();
  // unsubscribe from topics
  for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins->begin(); plugin != plugins->end();
      ++plugin)
  {
    (*plugin)->deactivate();
  }
  initialized_ = false;
  stopped_ = true;
}

void Costmap2DROS::pause()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::pause");
  stop_updates_ = true;
  initialized_ = false;
}

void Costmap2DROS::resume()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::resume");
  stop_updates_ = false;

  // block until the costmap is re-initialized.. meaning one update cycle has run
  ros::Rate r(100.0);
  while (!initialized_)
    r.sleep();
}


void Costmap2DROS::resetLayers()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::resetLayers");
  Costmap2D* top = layered_costmap_->getCostmap();
  top->resetMap(0, 0, top->getSizeInCellsX(), top->getSizeInCellsY());
  std::vector < boost::shared_ptr<Layer> > *plugins = layered_costmap_->getPlugins();
  for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins->begin(); plugin != plugins->end();
      ++plugin)
  {
    (*plugin)->reset();
  }
}

bool Costmap2DROS::getRobotPose(geometry_msgs::PoseStamped& global_pose) const
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::getRobotPose");
  tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose);
  geometry_msgs::PoseStamped robot_pose;
  tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose);
  robot_pose.header.frame_id = robot_base_frame_;
  robot_pose.header.stamp = ros::Time();
  ros::Time current_time = ros::Time::now();  // save time for checking tf delay later

  // get the global pose of the robot
  try
  {
    // use current time if possible (makes sure it's not in the future)
    if (tf_.canTransform(global_frame_, robot_base_frame_, current_time))
    {
      geometry_msgs::TransformStamped transform = tf_.lookupTransform(global_frame_, robot_base_frame_, current_time);
      tf2::doTransform(robot_pose, global_pose, transform);
    }
    // use the latest otherwise
    else
    {
      tf_.transform(robot_pose, global_pose, global_frame_);
    }
  }
  catch (tf2::LookupException& ex)
  {
    ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what());
    return false;
  }
  catch (tf2::ConnectivityException& ex)
  {
    ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what());
    return false;
  }
  catch (tf2::ExtrapolationException& ex)
  {
    ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what());
    return false;
  }
  // check global_pose timeout
  if (!global_pose.header.stamp.isZero() && current_time.toSec() - global_pose.header.stamp.toSec() > transform_tolerance_)
  {
    ROS_WARN_THROTTLE(1.0,
                      "Costmap2DROS transform timeout. Current time: %.4f, global_pose stamp: %.4f, tolerance: %.4f",
                      current_time.toSec(), global_pose.header.stamp.toSec(), transform_tolerance_);
    return false;
  }

  return true;
}

void Costmap2DROS::getOrientedFootprint(std::vector<geometry_msgs::Point>& oriented_footprint) const
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROS::getOrientedFootprint");
  geometry_msgs::PoseStamped global_pose;
  if (!getRobotPose(global_pose))
    return;

  double yaw = tf2::getYaw(global_pose.pose.orientation);
  transformFootprint(global_pose.pose.position.x, global_pose.pose.position.y, yaw,
                     padded_footprint_, oriented_footprint);
}

}  // namespace costmap_2d
